Net Loss Per Share - Schedule of Weighted Average Potentially Dilutive Securities Excluded from Computation of Diluted Net Loss Per Share Attributable to Common Stockholders (Details) - shares	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Potentially dilutive securities
Potentially dilutive securities	18,613,414	18,417,846	17,835,851	18,143,351
Stock issuable upon conversion of convertible note
Potentially dilutive securities
Potentially dilutive securities	14,634,146	14,634,146	14,634,146	14,634,146
Stock options to purchase common stock
Potentially dilutive securities
Potentially dilutive securities	0	1,579,957	2,503	1,625,075
Unvested RSUs
Potentially dilutive securities
Potentially dilutive securities	3,979,268	2,203,743	3,199,202	1,884,130